VEHICLE CONTROL DEVICE

To appropriately execute automatic steering control for avoiding an avoidance target object.SOLUTION: A vehicle control device (200) comprises: execution means (130) which executes automatic steering control for steering a vehicle (10) in such a manner that the vehicle is away from an avoidance target object when the avoidance target object is detected; determination means (110) for determining whether a second object (52) is detected at a farther side than a first object (51) in a direction of travel and at the same side as the first object in a lateral direction during the execution of the automatic steering control with the first object defined as a target; and comparison means (120) for comparing a first interval (L1) that is an interval between the vehicle and the first object with a second interval (L2) that is an interval between the vehicle and the second object. In a case where the second interval is narrower than the first interval, the execution means changes an offset amount into a value corresponding to the second object and in a case where the second interval is wider than the first interval, the execution means maintains the offset amount at a value corresponding to the first object.SELECTED DRAWING: Figure 1 【課題】回避対象目標を回避するための自動操舵制御を好適に実行する。【解決手段】車両制御装置（２００）は、回避対象目標を検出した場合に、回避対象目標から遠ざかるように車両（１０）を操舵する自動操舵制御を実行する実行手段（１３０）と、第１の目標（５１）を対象とする自動操舵制御の実行中に、進行方向で第１の目標よりも遠方側、且つ、左右方向で第１の目標と同じ側に、第２の目標（５２）を検出したか否かを判定する判定手段（１１０）と、車両と第１の目標との間隔である第１の間隔（Ｌ１）と、車両と第２の目標との間隔である第２の間隔（Ｌ２）とを比較する比較手段（１２０）とを備える。実行手段は、第１の間隔よりも第２の間隔が狭い場合には、オフセット量を第２の目標に応じたものに変更し、第１の間隔よりも第２の間隔が広い場合には、オフセット量を第１の目標に応じたもののまま維持する。【選択図】図１